Machine configuration and control system enabling interchangeable power sources

ABSTRACT

A machine control system controls operation of any one of a plurality of interchangeable power sources mounted on a machine. The machine includes an undercarriage supporting ground engagement members that propel the machine and an upper structure rotatably supported on the undercarriage. The upper structure includes a swing frame that supports an operator cab, an interchangeable power source, hydraulic components, and electrical components. The machine control system includes a processor configured to receive variables, control parameters, and standards associated with operation of each of the plurality of power sources from one or more of sensors, input devices, output devices, and memory communicatively coupled to the processor, utilize control logic, machine operational inputs and outputs, sensed and processed signals associated with position, movement, and operation of the machine, and one or more of stored, sensed, and processed data, variables, control parameters, and standards to process outputs and operating characteristics specific to each of the plurality of power sources, and standardize the power output by each of the power sources to provide a normalized, consistent control and operation of systems of the machine regardless of which of the power sources is mounted on the machine.

TECHNICAL FIELD

The present disclosure relates to a machine having interchangeable powersources, and more particularly, to a machine configuration and controlsystem enabling the interchangeable power sources.

BACKGROUND

Some conventional machines have a hydraulic power source for operatinghydraulic actuators. For example, such a machine might typically includean internal combustion engine for driving one or more hydraulic pumps,which, in turn, supply power to one or more hydraulic actuators forperforming work. One example of such a machine is a hydraulic excavator.A hydraulic excavator may typically include one or more hydraulic pumps,which provide hydraulic power in the form of pressurized fluid flow toone or more hydraulic motors and hydraulic cylinders for operation of aswing mechanism, boom, stick, and digging implement. In such a machine,the hydraulic motors may be used to rotate a cab relative to a chassison which the cab is mounted and drive ground engagement members such aswheels or tracks for movement of the machine. Hydraulic power providedto the hydraulic actuators may be used to raise and lower the boom andmanipulate the stick and the digging implement in order to performdigging and/or loading operations.

To increase the efficiency and/or reduce undesirable emissions resultingfrom operation of the internal combustion engine, efforts have been madeto recapture some of the energy typically lost during operation of sucha machine. For example, energy may be recaptured in the form of storedelectric and hydraulic energy for use by electric and hydraulic devices.Thus, it may be desirable to perform some working functions in a machinewith both stored hydraulic energy and stored electric energy by use ofboth electric and hydraulic devices. A typical machine is designed andconfigured for only one power source, such as an internal combustionengine. However, even with improvements in engine performance and/orefficiency, when employing internal combustion engines it is generallynecessary to provide exhaust aftertreatment systems, as well as fuelcontrol systems, air supply systems, and cooling systems to achievedesired engine performance and efficiency and to meetgovernment-mandated emission standards. Therefore, it may be desirableto provide a machine configuration that enables and accommodates theinstallation of alternative, and potentially interchangeable powersources, such as fully battery-powered systems, fuel cell systems, andtethered cable systems that receive electrical power from external powersources, as alternatives to traditional internal combustion engines suchas diesel engines. When all of the power requirements for operating thevarious systems and subsystems of a machine over a predetermined periodof time can be met by the electrical power stored in a battery, themachine may be configured to eliminate any internal combustion engineentirely. A fully battery-powered machine, for example, may also benefitfrom the elimination of fuel storage, fuel supply, and fuel injectionsystems, ignition systems, exhaust aftertreatment systems,liquid-cooling systems with complex networks of coolant passageways,pumps, and radiators, and other components and systems associated withpower produced by converting energy from combustion of fuel mixtureswithin cylinders of an engine into rotational output of a drive shaft.It may also be desirable to provide machine control systems and methodsfor automatically sensing the type of power source being used on themachine, processing detected outputs and characteristics specific to theparticular power source, and enabling standardized power output toprovide normalized, consistent control and operation of machine systemsregardless of the type of power source being used in conjunction with amachine engine control module (ECM).

A hybrid construction machine is disclosed U.S. Pat. No. 7,669,413 B2 toKomiyama et al. (“the '413 patent”). In particular, the '413 patentdiscloses a hybrid excavator including a hydraulic pump, a generatormotor connected in parallel to an output shaft of an engine, and arotation motor driven by a battery. The generator motor assists theengine by performing a motor function. Power consumption of each of thehydraulic pump and the rotation motor is detected, and the output of thehydraulic pump and the rotation motor is controlled such that the sum ofthe detected power consumption does not exceed a maximum supply powerset as the sum of power that can be supplied to the hydraulic pump andthe rotation motor.

Although the machine disclosed in the '413 patent includes both electricand hydraulic devices, the machine disclosed in the '413 patent stillrequires an internal combustion engine with a hydraulic pump connectedto an output shaft of the engine. As a result, the machine disclosed inthe '413 patent still requires fuel storage, fuel supply, and fuelinjection systems, ignition systems, exhaust aftertreatment systems,liquid-cooling systems with complex networks of coolant passageways,pumps, and radiators, and other components and systems associated withpower produced by converting energy from combustion of fuel mixtureswithin cylinders of an engine into rotational output of a drive shaft.

SUMMARY

In one aspect, the present disclosure is directed to a machine controlsystem configured for controlling operation of any one of a plurality ofinterchangeable power sources mounted on a machine. The machine mayinclude an undercarriage configured for supporting ground engagementmembers that propel the machine, and an upper structure rotatablysupported on the undercarriage, with the upper structure comprising aswing frame. The swing frame may be configured for supporting anoperator cab, any one of the plurality of interchangeable power sources,hydraulic components, and electrical components. The machine controlsystem may include one or more processors configured to receivevariables, control parameters, and standards associated with operationof each of the plurality of power sources from one or more of sensors,input devices, output devices, and memory communicatively coupled to theone or more processors. The machine control system may be configured toutilize control logic, machine operational inputs and outputs, sensedand processed signals associated with position, movement, and operationof the machine, and one or more of stored, sensed, and processed data,variables, control parameters, and standards to sense and processoutputs and operating characteristics specific to each of the pluralityof power sources. The machine control system may also be configured tostandardize the power output by each of the plurality of power sourcesto provide a normalized, consistent control and operation of systems ofthe machine regardless of which of the plurality of power sources ismounted on the machine.

According to another aspect, the disclosure is directed to a machineadapted for operation powered by any one of a plurality ofinterchangeable power sources. The machine may include an undercarriageconfigured for supporting ground engagement members that propel themachine, and an upper structure rotatably supported on theundercarriage. The upper structure may include a swing frame, the swingframe being configured for supporting an operator cab, any one of theplurality of interchangeable power sources, hydraulic components, andelectrical components. A counterweight may be disposed at a first end ofthe swing frame. The counterweight may include a hollowed out portionfacing toward the swing frame, the hollowed out portion being centrallyaligned with a center core portion of the swing frame configured forsupporting the one of a plurality of interchangeable power sources, withthe one power source being partially accommodated within the hollowedout portion of the counterweight. The machine may also include a powersystem electronic control module, and a main machine electronic controlmodule. The power system electronic control module may include one ormore processors configured to receive variables, control parameters, andstandards associated with operation of each of the plurality ofinterchangeable power sources from one or more of sensors, inputdevices, output devices, and memory communicatively coupled to the oneor more processors. The power system electronic control module may alsobe configured to utilize control logic, machine operational inputs andoutputs, sensed and processed signals associated with position,movement, and operation of the machine, and one or more of stored,sensed, and processed data, variables, control parameters, and standardsto sense and process outputs and operating characteristics specific toeach of the plurality of power sources. The power system electroniccontrol module may be further configured to standardize the power outputby each of the plurality of power sources to provide a normalized,consistent control and operation of systems of the machine controlled bythe main machine electronic control module regardless of which of theplurality of power sources is mounted on the machine.

According to a further aspect, the disclosure is directed to a variablemachine display for a machine adapted for operation powered by any oneof a plurality of interchangeable power sources. The machine may includea power system electronic control module configured to receivevariables, control parameters, and standards associated with operationof each of the plurality of interchangeable power sources from one ormore of sensors, input devices, output devices, and memorycommunicatively coupled to the power system electronic control module.The power system electronic control module may be further configured toutilize control logic, machine operational inputs and outputs, sensedand processed signals associated with position, movement, and operationof the machine, and one or more of stored, sensed, and processed data,variables, control parameters, and standards to sense and processoutputs and operating characteristics specific to each of the pluralityof power sources. The power system electronic control module may bestill further configured to standardize the power output by each of theplurality of power sources to provide a normalized, consistent controland operation of systems of the machine regardless of which of theplurality of interchangeable power sources is mounted on the machine.The variable machine display may include an associated displaycontroller communicatively coupled with the power system electroniccontrol module. The display controller may be configured to receive oneor more signals indicative of the standardized power output produced bythe power system electronic control module, and display one or more ofinformation, icons, and overall appearance that are modified based onthe one of the plurality of interchangeable power sources that ispowering the machine.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an exemplary embodiment of a machinethat may include a configuration and a control system enablinginterchangeable power sources.

FIG. 2 is a schematic diagram of an exemplary embodiment of a powersystem of the machine of FIG. 1.

FIG. 3 is a schematic diagram of an exemplary control strategy foroperation of an engine and electric and hydraulic devices in anexemplary machine.

FIGS. 4-6 are partially exploded perspective views of an exemplaryembodiment of a machine that may include a configuration and a controlsystem enabling interchangeable power sources.

FIG. 7 is a schematic diagram illustrating an exemplary swing frame andcounterweight of a machine before and after removal of an internalcombustion power source and modifications enabling installation ofinterchangeable power sources.

FIG. 8 is an enlarged schematic diagram of the exemplary swing frame ofFIG. 7 modified to enable installation of interchangeable power sources.

FIG. 9 a schematic diagram of an exemplary swing frame layout for amachine that may include a configuration and a control system enablinginterchangeable power sources.

DETAILED DESCRIPTION

FIG. 1 shows an exemplary embodiment of a machine 2 for performing work.In particular, the exemplary machine 2 shown in FIG. 1 is an excavatorconfigured for performing operations such as digging and/or loadingmaterial. Although the exemplary systems and methods disclosed hereinare described in relation to an excavator, the disclosed systems andmethods may have applications in other machines such as automobiles,trucks, agricultural vehicles, work vehicles, wheel loaders, dozers,loaders, track-type tractors, graders, off-highway trucks, or any othermachines known to those skilled in the art.

As shown in FIG. 1, exemplary machine 2 may include an undercarriage (orchassis) including ground engagement members 4 (e.g., tracks or wheels)for moving machine 2. Machine 2 may include an operator cab 24 mountedon an upper swinging body 6, which is rotatably attached to theundercarriage in a manner that permits rotation of cab 24 with respectto the undercarriage. A working arm apparatus 8 may be attached to upperswinging body 6 and configured to be moved in a vertical direction. Theupper swinging body 6 may include a swing frame 22, which may be swungabout a vertical axis with respect to the undercarriage, operator cab 24disposed at a left front portion on swing frame 22, a counterweight 126disposed at a rear portion on swing frame 22, a power source containingchamber 28 disposed on a front side of counterweight 126, a door 30pivotally attached to swing frame 22 and configured to cover a sideportion of chamber 28, and a hood 32 pivotally attached to swing frame22 and configured to cover an upper side of chamber 28.

Working arm apparatus 8 may include a boom 10 coupled to cab 24 in amanner that permits boom 10 to pivot with respect to cab 24. At a distalend of boom 10, opposite from cab 24, a stick 12 may be coupled to boom10 in a manner that permits stick 12 to pivot with respect to boom 10.An implement 14 (e.g., a digging implement or bucket) may be coupled tostick 12 in a manner that permits implement 14 to pivot with respect tostick 12. Although exemplary machine 2 shown in FIG. 1 includes adigging implement, other tools may be coupled to stick 12 when othertypes of work are desired to be performed.

In the exemplary embodiment shown, a pair of actuators 16 (only oneshown) may be coupled to cab 24 and boom 10, such that extension andcontraction of actuators 16 raises and lowers boom 10, respectively,relative to cab 24. Another actuator 18 may be coupled to boom 10 andstick 12, such that extension and retraction of actuator 18 results instick 12 pivoting inward and outward, respectively, with respect to boom10. Yet another actuator 20 may be coupled to stick 12 and diggingimplement 14, such that extension and retraction of actuator 20 resultsin digging implement 14 pivoting between closed and open positions,respectively, with respect to stick 12.

As explained in more detail with respect to FIG. 2, an exemplary machinemay include a plurality of actuators 25, 26, and 27 configured formoving various components of the machine relative to each other. Forexample, actuator 25 may be equivalent to the actuator 16 of theexcavator shown in FIG. 1 and configured to move boom 10 relative to cab24. Actuator 26 may be equivalent to the actuator 18 shown in FIG. 1 andconfigured to move stick 12 relative to boom 10. Actuator 27 may beequivalent to the actuator 20 shown in FIG. 1 and configured to movedigging implement 14 relative to stick 12. Each of actuators 25, 26, 27may be hydraulic devices, in particular, hydraulic cylinders powered bysupplying and draining fluid from the cylinders on either side of apiston to cause reciprocating movement of the piston within thecylinder. One or more of actuators 25, 26, and 27 may be non-hydraulicactuators without departing from the concepts disclosed herein. Inaddition, the number of each of the actuators coupled to boom 10, stick12, and/or implement 14, respectively, may be changed without departingfrom the concepts disclosed herein.

Referring to FIG. 2, exemplary machine 2 may include a power system 15including electric and hydraulic devices operated respectively viaelectric and hydraulic power sources and controlled by a controller.According to various exemplary embodiments of this disclosure, exemplarypower system 15 may include any one of a plurality of interchangeablepower sources such as an internal combustion engine, a battery, a fuelcell, or direct operation of the power system on machine 2 connected toan external source of power such as a power grid or an externalgenerator through a slip ring and tethered cable. Exemplary internalcombustion engines may include, for example, a compression-ignitionengine, a spark-ignition engine, a gas turbine engine, ahomogeneous-charge compression ignition engine, a two-stroke engine, afour-stroke, or any type of internal combustion engine known to thoseskilled in the art. An internal combustion engine may be configured tooperate on any fuel or combination of fuels, such as, for example,diesel, bio-diesel, gasoline, ethanol, methanol, or any fuel known tothose skilled in the art. Further, an internal combustion engine may besupplemented by a hydrogen-powered engine, fuel-cell, solar cell, and/orany power source known to those skilled in the art.

In the exemplary embodiment shown in FIG. 2, power system 15 may includean electric motor/generator 34. Motor/generator 34 may be electricallycoupled to an inverter 36 (e.g., a DC-AC inverter), which, in turn, maybe electrically coupled to a bus 38 (e.g., a DC bus). Exemplary powersystem 15 may further include a converter 40 electrically coupled to bus38. Converter 40 may be a DC-DC converter, which, in turn, may beelectrically coupled to an electric storage device 42. Electric storagedevice 42 may include one or more batteries and/or ultra-capacitorsconfigured to store electric energy supplied from motor/generator 34and/or any electrical energy generated by capturing energy associatedwith operation of machine 2, such as energy captured from regenerativebraking of moving parts of the machine, such as, for example,ground-engagement members 4 and/or rotation of swing frame 22 and cab24. Electric energy stored in electric storage device 42 may be used asa source of electric power as explained in more detail below.

Exemplary power system 15 may further include an inverter 44 (e.g., anDC-AC inverter) coupled to bus 38. Inverter 44 is electrically coupledto an electric motor/generator 46 (e.g., an AC motor/generator). In theexemplary embodiment shown, motor/generator 46 is coupled to cab 24 suchthat operation of motor/generator 46 results in cab 24 rotating relativeto the undercarriage. In addition, motor/generator 46 may be capable ofslowing and stopping rotation of cab 24 in a regenerative manner thatresults in electric energy being generated that may be routed viainverter 44, bus 38, and converter 40 to electric storage device 42 forlater supply to electric actuators such as motor/generators 34 and 46.According to some embodiments, electric energy in electric storagedevice 42 may be routed via converter 40, bus 38, and inverter 36 tomotor/generator 34, which may then use the electric energy to drive oneor more of hydraulic pump/motors 48 a and 48 b, thus enabling electricpower sources to drive hydraulic devices in the machine. In alternativeembodiments in which the main power source for a machine with powersystem 15 is a different interchangeable power source such as aninternal combustion engine, or a fuel cell, the electric energy fromelectric storage device 42 or from one or more of motor/generator 46 andmotor/generator 34 may supplement the internal combustion engine or fuelcell, and/or drive one or more hydraulic pump/motors 48 a and 48 b.According to some embodiments, electric energy generated bymotor/generator 34 and/or motor/generator 46 may be routed between thetwo motor/generators 34 and 46 without necessarily being stored inelectric storage device 42, for example, by being routed frommotor/generator 46, via inverter 44, bus 38, and inverter 36 tomotor/generator 34, or from motor/generator 34, via inverter 36, bus 38,and inverter 44 to motor/generator 46.

In the exemplary embodiment shown in FIG. 2, motor/generator 34 iscoupled to two hydraulic pump/motors 48 a and 48 b, which may includefixed-displacement or variable-displacement pumps. Although theexemplary embodiment shown includes two pump/motors 48 a and 48 b, asingle pump/motor or more than two pump/motors may be used. In theexemplary configuration shown, motor/generator 34 supplies electricalpower to drive pump/motors 48 a and 48 b, which, in turn, providehydraulic power to power system 15 by causing pressurized fluid to flowto and from hydraulic cylinders 25, 26, and 27. In addition, accordingto some embodiments, one or more of pump/motors 48 a and 48 b may drivemotor/generator 34, which may, in turn, supply electric power toelectric devices of machine 2.

In the exemplary embodiment shown in FIG. 2, pump/motors 48 a and 48 bare hydraulically coupled to control valves 50, such that pump/motors 48a and 48 b supply pressurized fluid to control valves 50, which, inturn, control fluid flow to and from hydraulic devices of machine 2. Forexample, as shown in FIG. 2, control valves 50 are hydraulically coupledto hydraulic cylinders 25, 26, and 27, and hydraulic pump/motor 52,which, when supplied with pressurized fluid flow, driveground-engagement members 4. Although a single hydraulic motor 52 isshown, power system 15 may include one or more hydraulic motors 52, forexample, one for each of ground-engagement members 4. Further, hydraulicpump/motor(s) 52 may be capable of slowing and stoppingground-engagement members 4 in a regenerative manner that results inhydraulic energy being generated that may be rerouted to providehydraulic power to power system 15, stored in a hydraulic storage devicefor later supply of hydraulic power to hydraulic actuators, and/or toprovide hydraulic power to pump/motors 48 a and 48 b, which maysupplement electric storage device 42, as explained in more detailbelow.

Exemplary power system 15 may also include an accumulator 54hydraulically coupled to control valves 50. Accumulator 54 may beconfigured to store hydraulic energy captured during operation of powersystem 15. For example, as explained above, hydraulic motor(s) 52 may beconfigured to slow movement of ground-engagement members 4 by operatingas pumps such that ground-engagement members 4 drive the pumps, therebyslowing ground-engagement members 4. The energy supplied to thehydraulic fluid by virtue of the pumping may be routed via controlvalves 50 for storage in accumulator 54 for later use, and/or topump/motors 48 a and 48 b.

In the exemplary power system 15, hydraulic cylinders 25, 26, and 27 mayeach be hydraulically coupled to control valves 50. As explained withrespect to FIG. 1, hydraulic cylinders 25, 26, and 27 may be equivalentto cylinders 16, 18, and 20, respectively, coupled to boom 10, stick 12,and implement 14 for manipulating boom 10, stick, 12, and implement 14.Similar to hydraulic motor(s) 52, hydraulic cylinders 25, 26, and 27 maybe operated in a regenerative manner that results in hydraulic energybeing generated, which may be rerouted to provide hydraulic power topower system 15 and/or stored in accumulator 54. For example, if a boomsuch as boom 10 in FIG. 1 is lowered from an elevated position,pressurized fluid is forced in a controlled manner from hydrauliccylinder 16. Similarly, movement of a component on a machine with powersystem 15 of FIG. 2 may result in pressurized fluid being forced in acontrolled manner from cylinder 25 in FIG. 2. This pressurized fluid maybe routed via control valves 50 for storage in accumulator 54, and/or toone or more of pump/motors 48 a, 48 b, and 52 for assisting operation ofthose hydraulic devices.

Exemplary power system 15 shown in FIG. 2 may include a control system55 for controlling power system 15. For example, power system 15 mayinclude an operator interface 56 that may be contained in cab 24.According to some embodiments, operator interface 56 may be locatedremote from machine 2 for remote control of machine 2. Exemplaryoperator interface 56 may include a number of controls (e.g., levers,pedals, and/or buttons) for control of machine 2 and its functions. Inthe exemplary embodiment shown, operator interface 56 may be coupled tocontrol valves 50, electrically and/or hydraulically, so that electriccontrol signals and/or hydraulic control signals (e.g., via a hydraulicpilot circuit) may be sent from operator interface 56 to control valves50. Such electric and hydraulic control signals may be used to controloperation of control valves 50 for operation and control of thehydraulic devices of power system 15. In addition, operator interface 56may be coupled electrically to a controller 58 configured to controloperation of one or more electric and hydraulic devices of exemplarypower system 15, as explained in more detail below.

In addition, controller 58 may be coupled to a number of sensorsassociated with the devices of machine 2 in order to receive signalsindicative of the operation of the devices. For example, machine 2 mayinclude the following sensors: a motor/generator sensor 34 a associatedwith motor/generator 34, a storage device sensor 42 a associated withelectric storage device 42, a motor/generator sensor 46 a associatedwith motor/generator 46, pump/motor sensors 48 c and 48 d associatedrespectively with pump/motors 48 a and 48 b, hydraulic sensors 25 a, 26a, and 27 a associated respectively with hydraulic cylinders 25, 26, and27 (respectively equivalent to hydraulic cylinders 16, 18, and 20 of theexemplary excavator 2 in FIG. 1), accumulator sensor 54 a associatedwith accumulator 54, and pump/motor sensor 52 a associated withpump/motor 52. Each of the sensors identified above may include a singlesensor or a number of sensors operating together to provide signalsindicative of the operation of the associated device.

Electric storage device sensor 42 a may include a charge sensor, acurrent sensor, a voltage sensor, and/or other electric storagedevice-related sensors. Motor/generator sensors 34 a and 46 a mayinclude a speed sensor, a current sensor, a voltage sensor, and/or othermotor/generator-related sensors. Pump/motor sensors 48 c, 48 d, and 52 amay include a speed sensor, a flow rate sensor, a pressure sensor,and/or other hydraulic-related sensors. Accumulator sensor 54 a mayinclude a pressure sensor and/or other hydraulic-related sensors.

Controller 58 may include one or more processors, microprocessors,central processing units, on-board computers, electronic controlmodules, and/or any other computing and control devices known to thoseskilled in the art. Controller 58 may be configured to run one or moresoftware programs or applications stored in a memory location, read froma computer-readable medium, and/or accessed from an external deviceoperatively coupled to controller 58 by any suitable communicationsnetwork.

Exemplary controller 58 may be configured to control operation ofexemplary power system 15, including battery 33 and various electric andhydraulic devices of exemplary machine 2. For example, controller 58 maybe configured to communicate with each of the electric and hydraulicdevices as both potential suppliers and consumers of electric andhydraulic power, and upon receipt of operator requests, controloperation of the main power source of machine 2 and electric andhydraulic devices in a coordinated manner to provide desired machineperformance and efficiency.

For example, electric motor/generators 34 and 46 may operate by eitherconsuming electric power or supplying electric power. They may consumeelectric power when operated to accelerate a device driven bymotor/generators 34 and 46. For example, motor/generator 34 may bedriven to assist battery 33 or another different, interchangeable powersource for machine 2 with supplying power to hydraulic pump/motors 48 aand 48 b, and motor/generator 46 may be driven to rotate cab 24.Motor/generator 34 may also supply electric power to power system 15when operated to decelerate vehicle 2, using the generator portion ofmotor/generator 34 to generate electric power. Motor/generator 46 mayalso operate to supply electric power to power system 15 in a similarmanner when decelerating rotation of cab 24. In addition,motor/generators 34 and 46 may supply electric power to each other andto energy storage device 42 when operating in a generator mode.

Energy storage device 42 may also operate as either a supplier orconsumer of electric power. For example, energy storage device 42 mayoperate as a supplier of electric power by providing electric power tomotor/generator 34 to assist output of battery 33 and/or tomotor/generator 46 to rotate cab 24. Electric storage device 42 may alsoact as a consumer of electric power when it stores electric powerreceived from motor/generators 34 and 46.

The hydraulic devices may also be viewed as both consumers and suppliersof hydraulic power. For example, pump/motors 48 a, 48 b, and 52 mayoperate by either consuming hydraulic power or supplying hydraulicpower. They may consume hydraulic power when operated to increase theflow rate and/or pressure in the hydraulic system, for example, tooperate hydraulic cylinders 25, 26, and 27 against a load. In addition,pump/motors 48 a, 48 b, and 52 may operate to consume hydraulic power todrive another of the pump/motors and/or to provide pressurized fluid toaccumulator 54. For example, one or more of pump/motors 48 a and 48 bmay operate as a pump to provide fluid to drive pump/motor 52 to driveground engagement members 4 for moving machine 2.

Pump/motors 48 a, 48 b, and/or 52 may also supply hydraulic power topower system 15. For example, as motion of the machine 2 is slowed viapump/motor 52, pump/motor 52 may convert the kinetic energy of machine 2by pumping hydraulic fluid, thereby supplying hydraulic power to powersystem 15, which may be used by pump/motors 48 a and 48 b to assistbattery 33 with supplying power to electric motor/generator 34, toassist with operation of hydraulic cylinders 25, 26, and 27 against aload, and/or to supply pressurized fluid to accumulator 54 for storage.

Similarly, hydraulic cylinders 25, 26, and 27 may operate to eitherconsume or supply hydraulic power. For example, with reference to theexemplary excavator of FIG. 1, as boom 10 is lowered, hydraulic cylinder16 (which may be equivalent to cylinder 25 in FIG. 2) may operate tosupply hydraulic power in the form of pressurized fluid to the hydraulicsystem, which may be used to supply power to pump/motors 48 a, 48 b, and52, other hydraulic cylinders 26 and 27, and/or accumulator 54.Hydraulic cylinder 25 may also operate as a power consumer when actingagainst a load (e.g., when equivalent cylinder 16 of the exemplaryexcavator 2 of FIG. 1 is raising boom 10) by drawing hydraulic powerfrom one or more of pump/motors 48 a, 48 b, and 52, accumulator 54,and/or other hydraulic cylinders 26 and 27.

Accumulator 54 may also operate as either a supplier or consumer ofhydraulic power. For example, accumulator 54 may operate as a supplierof hydraulic power by providing pressurized fluid to pump/motors 48 aand 48 b to assist output of battery 33, to hydraulic cylinders 25, 26,and 27 to act against a load, and/or to pump/motor 52 to drive groundengagement members 4. Accumulator 54 may operate as a consumer ofhydraulic power when it stores hydraulic power in the form ofpressurized fluid received from pump/motors 48 a, 48 b, and 52, and/orhydraulic cylinders 25, 26, and 27.

Exemplary controller 58 is configured to receive request signalsindicative of requested operation of the electric and hydraulic devices,for example, signals received from operator interface 56, and controlelectric and hydraulic power in machine 2 according to a controlstrategy. For example, controller 58 may be configured to receive therequest signals from interface 56 and operation signals from theelectric and hydraulic devices upon receipt of the request signals. Theoperation signals are indicative of the status of the respectiveelectric and hydraulic devices at the time of receipt of the requestsignals. For example, the operation signals may be signals received fromthe sensors associated with the respective electric and hydraulicdevices and may include information about the power being supplied orconsumed by the electric and hydraulic devices upon receipt of therequest signals. The operation signals may also be indicative of theability of the electric and hydraulic devices to either provide power orconsume power upon receipt of the request signals by controller 58.According to some embodiments, operation signals may also includesignals associated with operation of battery 33, or any of severalalternative and interchangeable power sources, such as an internalcombustion engine, a fuel cell, or a tethered cable power source.Controller 58 may determine the level of power to be supplied orconsumed by any one of the interchangeable power sources and theelectric and hydraulic devices based on the request signals, theoperation signals, and the control strategy, and provide control signalsfor controlling operation of any one of the interchangeable powersources and the electric and hydraulic devices of machine 2.

FIG. 3 is a schematic diagram of an exemplary control strategy 60 foroperation of any one of a plurality of interchangeable power sources onmachine 2, such as battery 33 in FIG. 2, and associated electric andhydraulic devices of exemplary machine 2. As shown in FIG. 3, exemplarycontrol strategy 60 may include subsystem controls 62 and a supervisorycontrol 64. Exemplary subsystem controls 62 may include a batterysubsystem control 62 a for controlling operation of battery 33, anelectric subsystem control 62 b for controlling operation of theelectric devices of the electric subsystem, and a hydraulic subsystemcontrol 62 c for controlling operation of the hydraulic devices of thehydraulic subsystem. Some embodiments may include additional subsystemcontrols for controlling operation of other devices.

Subsystem controls 62 are configured to provide supervisory control 64with the request signals 66 indicative of the requested operation of theelectric and hydraulic devices. According to some embodiments,supervisory control 64 may receive request signals 66 directly from asource other than subsystem controls 62, such as, for example, operatorinterface 56 and/or battery 33 and the electric and hydraulic devicesthemselves.

Subsystem controls 62 are also configured to provide request and rangesignals for operation of the energy storage devices associated with therespective electric subsystem and the hydraulic subsystem based on theinterrelationship of operation of the devices within the respectivesubsystem. For example, within the electric subsystem, electricsubsystem control 62 b provides request signals for controllingoperation of electric storage device 42 based on the operation of theother devices within the electric subsystem. Similarly, within thehydraulic subsystem, hydraulic subsystem control 62 c provides requestsignals for controlling operation of accumulator 54 based on theoperation of the other devices within the hydraulic subsystem.

Subsystem controls 62 are also configured to provide range signals 68indicative of a range of acceptable electric and hydraulic power levelsassociated with operation of the electric and hydraulic devices uponreceipt of request signals 66. Range signals 68 may also be based on howthe device functions within a respective subsystem. For example, for theelectric subsystem, range signals 68 for the respective electric devicesmay be based on the interrelationship of the operation of the electricdevices within the electric subsystem, for example, as explained in moredetail below with respect to electric storage device 42. Similarly, forthe hydraulic subsystem, range signals 68 for the respective hydraulicdevices may be based on the interrelationship of the operation of thehydraulic devices within the hydraulic subsystem, for example, asexplained in more detail below with respect to accumulator 54.

Supervisory control 64 is configured to determine control signals 70 forcontrolling operation of battery 33 and the electric and hydraulicdevices based on operation signals 72 (described previously herein),range signals 68, and request signals 66 indicative of requestedoperation of the electric and hydraulic devices. In this exemplarymanner, controller 58 evaluates operation of battery 33, such as acurrent state-of-charge (SOC) for battery 33, battery temperature, poweroutput, current output, voltage output, etc., and operation of theelectric and hydraulic devices, compares the requested operation of thedevices with the actual, real-time operation, and controls operation ofbattery 33 and the powered devices in a coordinated manner to providethe desired machine performance and improve efficiency.

Controller 58 may include software and application programminginterfaces (API) defining interactions between multiple softwareintermediaries adapted and configured to receive and process variables,control parameters, and standards associated with each of a plurality ofinterchangeable power sources, such as an internal combustion engine, abattery, a fuel cell, and a tethered cable power system. Controller 58may also be configured to interface with a main machine electroniccontrol module (ECM), and an electric/hydraulic system ECM. Controller58 may be configured to utilize control logic, various inputs, outputs,sensed and processed signals, stored, sensed, and/or processed data,parameters, variables, etc. (such as may be obtained at least in partfrom lookup tables and/or maps) to sense and process outputs andoperating characteristics specific to the particular power sourceactually being used on the machine. Additionally, controller 58 may beconfigured to standardize the power output from the particular,interchangeable power source mounted and employed on the machine toprovide a normalized, consistent control and operation of the variouselectric and hydraulic machine systems powered by the power source,regardless of the type of power source being used on the machine.

According to some embodiments, the range of acceptable electric powerand hydraulic power levels is indicative of maximum and minimum powerlevels at which the electric and hydraulic devices are permitted tooperate upon receipt of request signals 66 by controller 58. Forexample, the maximum and minimum power levels may be based on thecapacity of the respective device to supply power or consume power, orto supply or consume power based on predetermined design limits. Forexample, pump/motor 48 a may have a maximum pumping power output, andthus, the maximum power output level may be limited to the maximumpumping power output. As viewed from the perspective of battery 33, thiswould represent a maximum power consumption limit. However, as viewedfrom the perspective of hydraulic cylinders 25, 26, and 27, accumulator54, and pump/motor 52, this would represent a maximum power supplylimit. Alternatively, the maximum pumping power output of pump/motor 48a might be limited based on a predetermined design limit, for example,to avoid excessive wear on pump/motor 48 a and/or other parts of machine2.

The minimum power levels of range signals 68 may relate to apredetermined lower limit of acceptable power output. For example, forpump/motors 48 a and 48 b, the lower limit may be associated, forexample, with the minimum power output to provide hydraulic cylinders25, 26, and 27 with sufficient hydraulic power to hold a load inimplement 14 at a current height.

Battery 33, or a different, interchangeable power source such as aninternal combustion engine, a fuel cell, or a tethered cable system, mayalso provide, via its associated sensors 33 a, operation signals 72associated with operation of the particular power source being employedon machine 2. For example, a battery sensor 33 a may provide signalsindicative of the status of battery 33 (e.g., the SOC, power output,voltage output, or current output). Battery subsystem control 62 a mayprovide range signals 68 indicative of maximum and minimum power levelsat which battery 33 is permitted to operate upon receipt of requestsignals 66 by controller 58.

According to some embodiments, the ranges of acceptable electric,hydraulic, and power source power output levels may provide limits forsupervisory control 64, so that supervisory control 64 does not providecontrol signals 70 for the electric devices, hydraulic devices, and apower source such as battery 33 that fall outside the respective limits.As a result, although supervisory control 64 may determine a mostefficient solution (i.e., based on power consumption considerationsalone) for operating the power output levels of the interchangeablepower source mounted on the machine and the electric and hydraulicdevices that are powered by the power source, the ranges may preventunintended and undesirable consequences of the most efficient solution.

For example, upon receipt of a request for deceleration of the rotationof cab 24 by controller 58, motor/generator 46 may operate as agenerator, thereby supplying electric power to machine 2. Ifmotor/generator 46 increases the level of deceleration of cab 24, itwould supply a larger amount of electric power. However, this mightresult in the rotation of cab 24 stopping more quickly than the requestcalls for, thereby resulting in undesirable control characteristics. Ifmotor/generator 46 decreases the level of deceleration of cab 24, itwould supply a smaller amount of electric power. However, this mightresult in the rotation of cab 24 stopping more slowly than the requestcalls for, thereby also resulting in undesirable controlcharacteristics. Supervisory control 64 may be configured to determine amost efficient solution for operating power output levels of theinterchangeable power source mounted on the machine, wherein thesolutions depend on which of the plurality of interchangeable powersources is actually mounted and employed on the machine.

When controller 58 receives a request signal 66 for decelerating cab 24,electric subsystem control 62 b may determine a range of acceptablepower supply levels for motor/generator 46 during deceleration. As notedabove, because it might not be desirable for operation of machine 2 toreduce or increase the level of deceleration of cab 24, electricsubsystem control 62 b may determine a narrow range of acceptable powersupply levels under these circumstances. Thus, electric subsystemcontrol 62 b would provide to supervisory control 64 request signal 66indicative of the requested operation of motor/generator 46 and rangesignal 68 indicative of a narrow range of acceptable power supply levelsfor motor/generator 46. Supervisory control 64 would thereafter controloperation of motor/generator 46 by determining a level of power supplyto be provided by motor/generator 46 based on request signals 66,operation signals 72 of battery 33 and the various devices of machine 2,and range signal 68 received from electric subsystem control 62 b.Thereafter, control signals 70 are provided to motor/generator 46 tocontrol its operation. Control signals 70 may be sent from supervisorycontrol 64 to electric subsystem control 62 b, which may thereaftercontrol operation of motor/generator 46. According to some embodiments,control signals 70 may be sent directly to motor/generator 46 withoutnecessarily being relayed through electric subsystem control 62 b.

As another example, during acceleration of cab 24, controller 58 mayreceive a request signal 66 for acceleration, and motor/generator 46 mayoperate as a motor, thereby consuming electric power from battery 33 oranother interchangeable power source mounted on and employed by machine2. If motor/generator 46 increases the level of acceleration of cab 24,it would consume a larger amount of electric power. If motor/generator46 decreases the level of acceleration of cab 24, it would consume asmaller amount of electric power.

Electric subsystem control 62 b may determine a range of acceptablepower consumption levels for motor/generator 46 during acceleration ofcab 24. For example, it might not be desirable for operation of machine2 to increase the acceleration of cab 24 beyond the requested level.However, due to power limits for battery 33 on machine 2 or otherconsiderations, it may be desirable to reduce the level of accelerationbelow the requested level. Thus, electric subsystem control 62 b mayprovide a range of acceptable power consumption levels from a maximumequal to the requested level to a minimum well below the requestedlevel. Electric subsystem control 62 b may provide to supervisorycontrol 64 a request signal 66 indicative of the requested operation ofmotor/generator 46 and a range signal 68 indicative of the range ofacceptable power supply levels. Thereafter, supervisory control 64,using control signals 72, may control operation of motor/generator 46,for example, in the manner previously described, by determining a levelof power for consumption by motor/generator 46 based on request signal66 and range signal 68 received from electric subsystem control 62 a,and operation signals 72 of battery 33 and the various devices ofmachine 2.

Electric subsystem control 62 b may determine a range for operation ofelectric storage device 42 based on the interrelationship of theoperation of the electric devices within the electric subsystem. Forexample, if no electric devices are operating within electric subsystem,electric subsystem control 62 b may provide supervisory control 64 witha request signal indicating no requests for electric devices and a rangesignal 68 for each of the electric devices, which indicates the abilityof the electric devices, including electric storage device 42, to supplypower to battery 33 and/or hydraulic subsystem via supplement of powerto battery 33 for operation of one or more of pump/motors 48 a and 48 b.

However, if, for example, a request signal 66 is received for rotationof cab 24 (via motor/generator 46), electric subsystem control 62 b maysupply supervisory control 64 with request signals 66 for each of theelectric devices, including electric storage device 42. In addition,electric subsystem control 62 b may provide range signals 68 for each ofthe electric devices. For example, request signal 66 for operation ofmotor/generator 46 for rotation of cab 24 may request 50 units ofelectric power. Electric subsystem control 62 b may determine thatmotor/generator 34 being driven by battery 33 has the ability to provide40 units of electric power to motor/generator 46 to rotate cab 24, andelectric storage device 42 has the ability to provide 40 units ofelectric power to motor/generator 46 to rotate cab 24. Thus,motor/generator 34 and electric storage device 42 may have a total of 30units of excess capacity to meet the requested rotation of cab 24.Electric subsystem control 62 b may determine respective range signals66 for motor/generator 34 and electric storage device 42 indicating arange of power outputs of 0-40 units of power for each ofmotor/generator 34 and electric storage device 42, and a request signal66 of 50 units for motor/generator 46 for rotation of cab 24. Electricsubsystem control 62 b may also determine a range signal formotor/generator 46 as outlined previously herein. Also, electricsubsystem control 62 b may determine request signals 66 for each ofmotor/generator 34 and electric storage device 42 to provide the 50units of power to motor/generator 46. For example, electric subsystemcontrol 62 b may determine that the request signal 66 formotor/generator 34 will be 40 units of power, and the request signal forelectric storage device 42 will be 10 units of power, therebycorresponding to the 50 units of electric power requested for operationof motor/generator 46 to rotate cab 24. The request signals 66 and rangesignals 68 may be supplied to supervisory control 64.

In this example, supervisory control 64 uses the request and rangesignals 66 and 68 from electric subsystem control 62 b, as well assimilar signals from engine subsystem control 62 a and hydraulicsubsystem control 62 c, to determine control signals 70 for controllingoperation of battery 33 and the electric and hydraulic devices ofmachine 2. For example, if electric power is not needed forsupplementing battery 33 or the hydraulic system, supervisory control 64may provide control signals 70 to electric subsystem control 62 b, suchthat motor/generator 34 supplies, for example, 40 units of power tomotor/generator 46, and electric storage device 42 supplies 10 units ofpower to motor/generator 46, thereby meeting the requested 50 units torotate cab 24.

However, if supervisory control 64 determines that the hydraulicsubsystem would benefit from power supplied by the electric subsystem,for example, if the hydraulic subsystem is unable to supply enoughhydraulic power to meet the requested operation demands of the hydraulicsubsystem, for example, because of limited capacity of battery 33 and/oran inability of accumulator 54 to offset the limited capacity of battery33, supervisory control 64 may determine that the electric subsystem maysupply power to supplement operation of battery 33 by, for example, 20units of power, thereby increasing the capability of the hydraulicsubsystem. Because the output of pump/motors 48 a and 48 b may belimited due to instantaneous battery output capability, supplementingoperation of battery 33 with the electric subsystem may enable anincrease in the hydraulic power pump/motors 48 a and 48 b may supply.Thus, in order to meet the 20-unit power demand for supplementingbattery 33 and the 50-unit power demand of the request to rotate cab 24,70 units of power may be supplied from the combined 80 units ofavailable power from motor/generator 34 and electric storage device 42,so that 50 units are supplied to rotate cab 24, and 20 units aresupplied to hydraulic subsystem via power supplied to battery 33.

In a similar manner, hydraulic subsystem control 62 c may determine arange for operation of accumulator 54 based on the interrelationship ofthe operation of the hydraulic devices within the hydraulic subsystem.For example, if no hydraulic devices are operating within hydraulicsubsystem, hydraulic subsystem control 62 c may provide supervisorycontrol 64 with a request signal indicating no requests for hydraulicdevices and a range signal 68 for each of the hydraulic devices, whichindicates the ability of the hydraulic devices, including accumulator54, to supply power to battery 33 and/or electric subsystem viasupplement of power to battery 33 for operation of motor/generator 34 ofthe electric subsystem.

However, if, for example, a request signal 66 is received for movementof machine 2 (via pump/motor 52 and ground engagement members 4),hydraulic subsystem control 62 c may supply supervisory control 64 withrequest signals 66 for each of the hydraulic devices, includingaccumulator 54. In addition, hydraulic subsystem control 62 c mayprovide range signals 68 for each of the hydraulic devices. For example,request signal 66 for operation of pump/motor 52 for movement of machine2 may request 60 units of electric power. Hydraulic subsystem control 62c may determine that pump/motors 48 a and 48 b being driven by battery33 have the ability to provide 50 units of hydraulic power tomotor/generator 46 to move machine 2, and accumulator 54 has the abilityto provide 30 units of hydraulic power pump/motor 52 to move machine 2.(According to some embodiments, hydraulic cylinders 25, 26, and/or 27may be used to supply hydraulic power to pump/motor 52, as describedpreviously herein.) Thus, pump/motors 48 a and 48 b and accumulator 54may have a total of 20 units of excess capacity to meet the requestedmovement of machine 2. Hydraulic subsystem control 62 c may determinerespective range signals 66 for pump/motors 48 a and 48 b andaccumulator 54 indicating a range of power outputs of 0-50 units forpump/motors 48 a and 48 b and 0-30 units of power for accumulator 54,and a request signal 66 of 60 units for pump/motor 52 for movement ofmachine 2. Hydraulic subsystem control 62 c may also determine a rangesignal for pump/motor 52 as outlined previously herein. Also, hydraulicsubsystem control 62 c may determine request signals 66 for each ofpump/motors 48 a and 48 b and accumulator 54 to provide the 60 units ofpower to pump/motor 52. For example, hydraulic subsystem control 62 cmay determine that the request signal 66 for pump/motors 48 a and 48 bwill be 50 total units of power, and the request signal 66 foraccumulator 54 (and/or hydraulic actuators 24, 26, and/or 27) will be 10units of power, thereby corresponding to the 60 units of hydraulic powerrequested for operation of pump/motor 52 to move machine 2. The requestsignals 66 and range signals 68 are supplied to supervisory control 64.

In this example, supervisory control 64 may use the request and rangesignals 66 and 68 from hydraulic subsystem control 62 c, as well assimilar signals from engine subsystem control 62 a and electricsubsystem control 62 b, to determine control signals for controllingoperation of battery 33 or another interchangeable power source mountedon machine 2 and the electric and hydraulic devices of machine 2. Forexample, if hydraulic power is not needed for supplementing battery 33or the electric subsystem, supervisory control 64 may provide controlsignals 70 to hydraulic subsystem control 62 c, such that pump/motors 48a and 48 b supply, for example, 50 units of power to pump/motor 52, andaccumulator 54 supplies 10 units of power to pump/motor 52, therebymeeting the requested 60 units to move machine 2.

However, if supervisory control 64 determines that the electricsubsystem would benefit from power supplied by the hydraulic subsystem,for example, if the electric subsystem was unable by itself to supplyenough electric power to meet the requested operation demands of theelectric subsystem, supervisory control 64 may determine that thehydraulic subsystem may supply power to supplement operation of battery33 by, for example, 20 units of power. Thus, in order to meet the20-unit power demand for supplementing battery 33 and the 60-unit powerdemand of the request to move machine 2, 80 units of power may besupplied from the combined 80 units of available power from pump/motors48 a and 48 b and accumulator 54, so that 60 units are supplied to movemachine 2, and 20 units are supplied to electric subsystem via powersupplied to battery 33.

A machine according to various exemplary embodiments of this disclosuremay be adapted for operation powered by any one of a plurality ofinterchangeable power sources. In the exemplary embodiment of anexcavator 2, such as shown in FIG. 1, the machine may include anundercarriage configured for supporting ground engagement members 4 thatpropel the machine. An upper structure 6 may be rotatably supported onthe undercarriage. The upper structure may include a swing frame 22, andswing frame 22 may be configured for supporting an operator cab 24, anyone of the plurality of interchangeable power sources, hydrauliccomponents, and electrical components. As shown in FIGS. 1 and 4-9,counterweight 126, 226 may be disposed at a first end of swing frame 22.In exemplary embodiments according to this disclosure, counterweight 226may include a hollowed out portion 222 facing toward swing frame 22. Asshown by a circled portion in the enlarged view of FIG. 8, a center coreportion 310 of swing frame 22 may be centrally aligned with hollowed outportion 222 of counterweight 226. Center core portion 310 may beconfigured for supporting any one of the plurality of interchangeablepower sources. As shown in the exemplary embodiments of FIGS. 4 and 5, abattery pack 240 of an exemplary machine 200 may be the interchangeablepower source mounted on swing frame 22, with a portion of battery pack240 accommodated partially within hollowed out portion 222 ofcounterweight 226 and with the remaining portion of battery pack 240being contained within a power source containing chamber 228 on swingframe 22.

As shown in FIG. 4, power source containing chamber 228 may be disposedat a portion of swing frame 22 to the rear and lateral side of anoperator cab 224. A power system ECM 262 and main machine ECM 266 may bepositioned on swing frame 22 to one lateral side of operator cab 224along with an inverter, one or more electric motors/generators, electricstorage device(s), and one or more hydraulic pumps or other hydrauliccomponents. The various electrical and hydraulic components may bedisposed on ladder side skirts 312, 314 towards outer peripheries of theladder side skirts in order to maximize the available room for centercore portion 310 and the interchangeable power sources that may beprovided on the swing frame. Center core portion 310 may also be loweredrelative to the ladder side skirts in order to lower the center ofgravity of the power source mounted on the center core portion. In someexemplary embodiments, one or more of the hydraulic pumps provided onthe ladder side skirts may be mounted to the electric motors/generatorsand disposed longitudinally along outer peripheral portions of one orboth of the ladder side skirts in order to maximize the amount of openspace on center core portion 310 for mounting of an interchangeablepower source.

Whichever one of the interchangeable power sources is mounted andemployed on machine 2, the power source may be at least partiallyaccommodated within hollowed out portion 222 of counterweight 226. Thisconfiguration enables and facilitates the installation of aninterchangeable power source such as one of battery 33, an internalcombustion engine, a fuel cell, or a tethered cable system on swingframe 22 in a position that minimizes the overall size and weight of themachine, thus improving fuel economy. As best seen in FIGS. 6-8, swingframe 22 may be configured with center core portion 310 flanked onopposite lateral sides by ladder side skirts 312, 314. Each of ladderside skirts 312, 314 may include multiple, parallel, cross members 322.Center core portion 310 may include parallel, longitudinally arrangedvertical reinforcing ribs 332, 334 with mounting bosses 333, 335,respectively, on opposite, lateral sides of center core portion 310. Theleft-hand illustration in FIG. 7 shows an internal combustion engine 500mounted on a swing frame, along with associated cooling systemcomponents, exhaust treatment components, etc. The right-handillustration in FIG. 7 shows a modified swing frame according to anexemplary embodiment of this disclosure, with the internal combustionengine and associated components removed, a hollowed out counterweight226 disposed at a rear end of the swing frame, and the modified swingframe being configured for mounting of an interchangeable power sourcesuch as a battery pack. As best seen in the enlarged illustration ofFIG. 8, a plurality of vibration-isolating mounting pads 352 may bedisposed on center core portion 310 of the swing frame adjacent hollowedout portion 222 of counterweight 226. Vibration-isolating mounting pads352 may be configured for mounting an interchangeable power source suchbattery pack 240 of FIG. 4 and isolating battery pack 240 from theaccelerations and forces that may be generated during operation of themachine.

Swing frame 22 may include a ladder side skirt 312, 314 on each ofopposite, lateral sides of center core portion 310, and center coreportion 310 of swing frame 22 may extend below each of the ladder sideskirts to lower the center of gravity for the one power source mountedon center core portion 310 of swing frame 22. The plurality ofvibration-isolating mounting pads 352 may be disposed on center coreportion 310 of swing frame 22 adjacent hollowed out portion 222 ofcounterweight 226. In various exemplary embodiments of this disclosure,hollowed out portion 222 of counterweight 226 may extend to both sidesof center core portion 310 of swing frame 22. Swing frame 22 may beconfigured for supporting any one of the plurality of interchangeablepower sources, and the ladder side skirts may be configured forsupporting the hydraulic components and the electrical components onportions of the ladder side skirts spaced away from the center coreportion to increase the amount of room available for mounting any one ofthe plurality of interchangeable power sources on center core portion310. As discussed above, and shown, for example, in FIG. 8, center coreportion 310 may include parallel, longitudinally arranged verticalreinforcing ribs 332, 334 on opposite, lateral sides of center coreportion 310, and vibration-isolating mounting pads 352 configured formounting the one power source and isolating the power source fromvibrations that may occur during operation of the machine.

The electrical components mounted on the outer peripheral portions ofthe ladder side skirts on lateral sides of center core portion 310 mayinclude a cooling system 342 including a plurality of fans, an electricmotor driven by the power source, and the hydraulic components mayinclude a pump 362 mounted to the electric motor with a couplinginterposed between the pump and the electric motor. The coupling mayenable mounting of the hydraulic pump directly to the electric motor,thus enabling a compact arrangement of the various electrical andhydraulic components on the ladder side skirts and maximizing theavailable space on center core portion 310 for mounting of any one ofthe interchangeable power sources.

The exemplary systems and methods described above include a combinationof electric and hydraulic devices and a combination of electric andhydraulic storage devices. It is contemplated that the systems andmethods described herein may not include both electric and hydraulicdevices, or may not include both electric and hydraulic storage devices.For example, the systems and methods may be used in machines havingelectric devices and electric storage devices, or a combination ofelectric devices, electric storage devices, and non-hydraulic devices(e.g., non-hydraulic storage devices, such as, for example, anon-hydraulic, mechanical storage device such as a flywheel).Alternatively, the systems and methods may be used in machines havinghydraulic devices and hydraulic storage devices, or a combination ofhydraulic devices, hydraulic storage devices, and non-electric devices(e.g., non-electric storage devices, such as, for example, anon-electric, mechanical storage device such as a flywheel).

INDUSTRIAL APPLICABILITY

An exemplary machine and machine control system according to variousembodiments of this disclosure may be used for performing work. Inparticular, an exemplary machine 2 shown in FIG. 1 is an excavator forperforming operations such as digging and/or loading material. Althoughthe exemplary systems and methods disclosed herein are described inrelation to an excavator, the disclosed systems and methods haveapplications in other machines such as an automobile, truck,agricultural vehicle, work vehicle, wheel loader, dozer, loader,track-type tractor, grader, off-highway truck, or any other machinesknown to those skilled in the art.

As discussed above, exemplary power system 15 for a machine may be usedto control power in the machine having both electric and hydraulicdevices that may act as either power suppliers or consumers. Inparticular, exemplary power system 15 may control the power supply andconsumption of the electric and hydraulic devices in a manner thatimproves the efficiency of a machine, while maintaining desirablecontrol characteristics of the machine. The electric and hydraulicdevices may include electric and hydraulic storage devices as well aselectric and hydraulic actuators, such as, for example, electric motors,electric generators, electric motor/generators, hydraulic pumps,hydraulic motors, hydraulic pump/motors, and hydraulic cylinders.

Exemplary power system 15 may be configured for controlling operation ofany one of a plurality of interchangeable power sources mounted on amachine, such as excavator 2 of FIG. 1. As discussed above, exemplaryexcavator 2 may include an undercarriage configured for supportingground engagement members 4 that propel the excavator. An upperstructure 6 may be rotatably supported on the undercarriage. Upperstructure 6 may include a swing frame 22, and swing frame 22 may beconfigured for supporting an operator cab 24, any one of a plurality ofinterchangeable power sources, hydraulic components, electricalcomponents, and one or more electronic control modules (ECM's)configured for controlling all of the various components. Power system15 may include a controller 58. The machine control system enabled andembodied by controller 58 may include one or more processors configuredto receive variables, control parameters, and standards associated withoperation of each of the plurality of interchangeable power sources fromone or more of sensors, input devices, output devices, and memorycommunicatively coupled to the one or more processors. The one or moreprocessors may utilize control logic, machine operational inputs andoutputs, sensed and processed signals associated with position,movement, and operation of the machine, and one or more of stored,sensed, and processed data, variables, control parameters, and standardsto sense and process outputs and operating characteristics specific toeach of the plurality of power sources. The one or more processors mayalso standardize the power output by each of the plurality of powersources to provide a normalized, consistent control and operation ofsystems of the machine regardless of which of the plurality of powersources is mounted on the machine.

In various exemplary implementations of this disclosure, the one or moreprocessors of the machine control system enabled and embodied bycontroller 58 of power system 15 may be included in a power systemelectronic control module (ECM). The power system ECM may be configuredto interface with at least one of a main machine ECM, an electricalsystem ECM, and a hydraulic system ECM. The electrical system ECM may beconfigured to control the operation of one or more of electricalcomponents including at least one of an electric motor, an inverter, aninsulated-gate bipolar transistor (IGBT), and a capacitor. The hydraulicsystem ECM may be configured to control the operation of one or more ofhydraulic components including at least one of a pump, a motor, and avalve.

The power system ECM according to various exemplary embodiments of thisdisclosure may be configured to sense and determine which of a pluralityof potential interchangeable power sources is currently mounted andoperating on the machine. As discussed above, the plurality ofinterchangeable power sources may include an internal combustion engine,a battery, a fuel cell, and a tethered cable system configured toreceive electrical power from a source external to the machine. The oneor more of stored, sensed, and processed data, variables, controlparameters, and standards associated with operation of each of theplurality of interchangeable power sources may be retrieved by the oneor more processors from one or more lookup tables or maps stored inmemory associated with the processors. The one or more processors mayalso be configured to determine a control strategy for controlling thesystems of the machine based on the standardized power output from theparticular interchangeable power source currently mounted and operatingon the machine. By making the machine and associated software andhardware reconfigurable depending on which of a plurality ofinterchangeable power sources is mounted on the machine, machineproduction logistics for a machine according to the various embodimentsof this disclosure may enable the shipment of a machine with an agnosticpower source to a customer. The customer may then locally source aparticular power source configured to meet the particular operationalrequirements for the customer. The ability to reconfigure the machinefor operation by different, interchangeable power sources may alsoenable reconfiguration of the machine late in the process of machineconfiguration and production, thus offering more flexibility in craftinga cost effective solution to each customer's needs and particularrequirements.

A machine according to various exemplary embodiments of this disclosuremay also include a variable machine display adapted for operationpowered by any one of a plurality of interchangeable power sources. Themachine may include a power system electronic control module configuredto receive variables, control parameters, and standards associated withoperation of each of the plurality of interchangeable power sources fromone or more of sensors, input devices, output devices, and memorycommunicatively coupled to the power system electronic control module.The power system electronic control module may utilize control logic,machine operational inputs and outputs, sensed and processed signalsassociated with position, movement, and operation of the machine, andone or more of stored, sensed, and processed data, variables, controlparameters, and standards to sense and process outputs and operatingcharacteristics specific to each of the plurality of power sources. Thepower system electronic control module may standardize the power outputby each of the plurality of power sources to provide a normalized,consistent control and operation of systems of the machine regardless ofwhich of the plurality of interchangeable power sources is mounted onthe machine.

The variable machine display for the machine may include an associateddisplay controller communicatively coupled with the power systemelectronic control module. The display controller may be configured toreceive one or more signals indicative of the standardized power outputproduced by the power system electronic control module, and display oneor more of information, icons, and overall appearance that are modifiedbased on the one of the plurality of interchangeable power sources thatis mounted on and powering the machine. In one exemplary embodiment, adisplay controller may display remaining battery power or otherbattery-related parameters when the one of the plurality ofinterchangeable power sources is a battery. In an alternative exemplaryembodiment, a display controller may display an amount of remaining fuelor other power source operating characteristics when the one of theplurality of interchangeable power sources is one of an internalcombustion engine or a fuel cell. In a still further exemplaryembodiment, a display controller may display real time electrical powerbeing received by the machine from an external electrical power sourcewhen the one of the plurality of interchangeable power sources is atethered cable system configured to connect the machine to the externalelectrical power source.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the exemplary disclosedsystems, methods, and machines. Other embodiments will be apparent tothose skilled in the art from consideration of the specification andpractice of the exemplary disclosed embodiments. It is intended that thespecification and examples be considered as exemplary only, with a truescope being indicated by the following claims and their equivalents.

What is claimed is:
 1. A machine control system configured forcontrolling operation of any one of a plurality of interchangeable powersources mounted on a machine, the machine comprising an undercarriageconfigured for supporting ground engagement members that propel themachine; an upper structure rotatably supported on the undercarriage,the upper structure comprising a swing frame, the swing frame beingconfigured for supporting an operator cab, any one of the plurality ofinterchangeable power sources, hydraulic components, and electricalcomponents, the machine control system comprising: one or moreprocessors configured to: receive variables, control parameters, andstandards associated with operation of each of the plurality of powersources from one or more of sensors, input devices, output devices, andmemory communicatively coupled to the one or more processors, utilizecontrol logic, machine operational inputs and outputs, sensed andprocessed signals associated with position, movement, and operation ofthe machine, and one or more of stored, sensed, and processed data,variables, control parameters, and standards to sense and processoutputs and operating characteristics specific to each of the pluralityof power sources, and standardize the power output by each of theplurality of power sources to provide a normalized, consistent controland operation of systems of the machine regardless of which of theplurality of power sources is mounted on the machine.
 2. The machinecontrol system according to claim 1, wherein the one or more processorsare included in a power system electronic control module.
 3. The machinecontrol system according to claim 2, wherein the power system electroniccontrol module is configured to interface with at least one of a mainmachine electronic control module, an electrical system electroniccontrol module, and a hydraulic system electronic control module.
 4. Themachine control system according to claim 3, wherein the electricalsystem electronic control module is configured to control the operationof one or more of electrical components including at least one of anelectric motor, an inverter, an insulated-gate bipolar transistor(IGBT), and a capacitor.
 5. The machine control system according toclaim 3, wherein the hydraulic system electronic control module isconfigured to control the operation of one or more of hydrauliccomponents including at least one of a pump, a motor, and a valve. 6.The machine control system according to claim 2, wherein the powersystem electronic control module is configured to sense and determineswhich of the plurality of interchangeable power sources is operating onthe machine.
 7. The machine control system according to claim 6, whereinthe plurality of interchangeable power sources includes an internalcombustion engine, a battery, a fuel cell, and a tethered cable systemconfigured to receive electrical power from a source external to themachine.
 8. The machine control system according to claim 1, wherein theone or more of stored, sensed, and processed data, variables, controlparameters, and standards are retrieved by the one or more processorsfrom one or more lookup tables or maps.
 9. The machine control systemaccording to claim 1, wherein the one or more processors are configuredto determine a control strategy for controlling the systems of themachine based on the standardized power output from the power sourcemounted on the machine.
 10. A machine adapted for operation powered byany one of a plurality of interchangeable power sources, the machinecomprising: an undercarriage configured for supporting ground engagementmembers that propel the machine; an upper structure rotatably supportedon the undercarriage, the upper structure comprising a swing frame, theswing frame being configured for supporting an operator cab, any one ofthe plurality of interchangeable power sources, hydraulic components,and electrical components; a counterweight disposed at a first end ofthe swing frame, the counterweight including a hollowed out portionfacing toward the swing frame, the hollowed out portion being centrallyaligned with a center core portion of the swing frame configured forsupporting the one of a plurality of interchangeable power sources, withthe one power source being partially accommodated within the hollowedout portion of the counterweight; a power system electronic controlmodule; and a main machine electronic control module, the power systemelectronic control module comprising: one or more processors configuredto: receive variables, control parameters, and standards associated withoperation of each of the plurality of interchangeable power sources fromone or more of sensors, input devices, output devices, and memorycommunicatively coupled to the one or more processors, utilize controllogic, machine operational inputs and outputs, sensed and processedsignals associated with position, movement, and operation of themachine, and one or more of stored, sensed, and processed data,variables, control parameters, and standards to sense and processoutputs and operating characteristics specific to each of the pluralityof power sources, and standardize the power output by each of theplurality of power sources to provide a normalized, consistent controland operation of systems of the machine controlled by the main machineelectronic control module regardless of which of the plurality of powersources is mounted on the machine.
 11. The machine according to claim10, wherein the power system electronic control module is configured tointerface with at least one of a main machine electronic control module,an electrical system electronic control module, and a hydraulic systemelectronic control module.
 12. The machine according to claim 11,wherein the electrical system electronic control module is configured tocontrol the operation of one or more of electrical components includingat least one of an electric motor, an inverter, an insulated-gatebipolar transistor (IGBT), and a capacitor.
 13. The machine according toclaim 11, wherein the hydraulic system electronic control module isconfigured to control the operation of one or more of hydrauliccomponents including at least one of a pump, a motor, and a valve. 14.The machine according to claim 10, wherein the power system electroniccontrol module senses and determines which of the plurality ofinterchangeable power sources is operating on the machine.
 15. Themachine according to claim 14, wherein the plurality of interchangeablepower sources include a diesel engine, a battery, a fuel cell, and atethered cable system configured to receive electrical power from asource external to the machine.
 16. The machine according to claim 10,wherein the one or more of stored, sensed, and processed data,variables, control parameters, and standards are retrieved by the one ormore processors from one or more lookup tables or maps.
 17. A variablemachine display for a machine adapted for operation powered by any oneof a plurality of interchangeable power sources, the machine including apower system electronic control module configured to: receive variables,control parameters, and standards associated with operation of each ofthe plurality of interchangeable power sources from one or more ofsensors, input devices, output devices, and memory communicativelycoupled to the power system electronic control module, utilize controllogic, machine operational inputs and outputs, sensed and processedsignals associated with position, movement, and operation of themachine, and one or more of stored, sensed, and processed data,variables, control parameters, and standards to sense and processoutputs and operating characteristics specific to each of the pluralityof power sources, and standardize the power output by each of theplurality of power sources to provide a normalized, consistent controland operation of systems of the machine regardless of which of theplurality of interchangeable power sources is mounted on the machine,the variable machine display comprising: an associated displaycontroller communicatively coupled with the power system electroniccontrol module, the display controller being configured to: receive oneor more signals indicative of the standardized power output produced bythe power system electronic control module, and display one or more ofinformation, icons, and overall appearance that are modified based onthe one of the plurality of interchangeable power sources that ispowering the machine.
 18. The variable machine display according toclaim 17, wherein the display controller is configured to displayremaining battery power when the one of the plurality of interchangeablepower sources is a battery.
 19. The variable machine display accordingto claim 17, wherein the display controller is configured to displayremaining fuel when the one of the plurality of interchangeable powersources is one of an internal combustion engine or a fuel cell.
 20. Thevariable machine display according to claim 17, wherein the displaycontroller is configured to display real time electrical power beingreceived by the machine from an external electrical power source whenthe one of the plurality of interchangeable power sources is a tetheredcable system configured to connect the machine to the externalelectrical power source.